#ifndef _ROTATE_H_
#define _ROTATE_H_

#include "stdafx.h"
#include "Vector.h"
#include "Point.h"
#include "Matrix.h"

namespace aiRobots
{
	inline void RotateAlongX(mtype anglerad, mtype *destination);
	inline void RotateAlongY(mtype anglerad, mtype *destination);
	inline void RotateAlongZ(mtype anglerad, mtype *destination);
	inline void RotateRPY(mtype* anglerad, mtype *destination); // roll-pitch-yaw / Z-Y-X Euler angles 
	inline void Transformation(mtype *rotation, mtype *position, mtype *destination);
} 

#endif